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<div class="header">
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<a href="#func-members">Functions</a>  </div>
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<div class="title">Vector Inverse Park transform<div class="ingroups"><a class="el" href="group__groupController.html">Controller Functions</a></div></div>  </div>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
Functions</h2></td></tr>
<tr class="memitem:ga896b639ecd52c33d427bc7cdc8d303b2"><td class="memItemLeft" align="right" valign="top">__STATIC_FORCEINLINE void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__inv__park.html#ga896b639ecd52c33d427bc7cdc8d303b2">arm_inv_park_f32</a> (<a class="el" href="arm__math_8h.html#a4611b605e45ab401f02cab15c5e38715">float32_t</a> Id, <a class="el" href="arm__math_8h.html#a4611b605e45ab401f02cab15c5e38715">float32_t</a> Iq, <a class="el" href="arm__math_8h.html#a4611b605e45ab401f02cab15c5e38715">float32_t</a> *pIalpha, <a class="el" href="arm__math_8h.html#a4611b605e45ab401f02cab15c5e38715">float32_t</a> *pIbeta, <a class="el" href="arm__math_8h.html#a4611b605e45ab401f02cab15c5e38715">float32_t</a> sinVal, <a class="el" href="arm__math_8h.html#a4611b605e45ab401f02cab15c5e38715">float32_t</a> cosVal)</td></tr>
<tr class="memdesc:ga896b639ecd52c33d427bc7cdc8d303b2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Floating-point Inverse Park transform.  <a href="#ga896b639ecd52c33d427bc7cdc8d303b2">More...</a><br/></td></tr>
<tr class="separator:ga896b639ecd52c33d427bc7cdc8d303b2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:gae7165779ef72e1f797d0c601d6d619b2"><td class="memItemLeft" align="right" valign="top">__STATIC_FORCEINLINE void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__inv__park.html#gae7165779ef72e1f797d0c601d6d619b2">arm_inv_park_q31</a> (<a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a> Id, <a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a> Iq, <a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a> *pIalpha, <a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a> *pIbeta, <a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a> sinVal, <a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a> cosVal)</td></tr>
<tr class="memdesc:gae7165779ef72e1f797d0c601d6d619b2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Inverse Park transform for Q31 version.  <a href="#gae7165779ef72e1f797d0c601d6d619b2">More...</a><br/></td></tr>
<tr class="separator:gae7165779ef72e1f797d0c601d6d619b2"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Description</h2>
<p>end of park group</p>
<p>Inverse Park transform converts the input flux and torque components to two-coordinate vector.</p>
<p>The function operates on a single sample of data and each call to the function returns the processed output. The library provides separate functions for Q31 and floating-point data types. </p>
<dl class="section user"><dt>Algorithm</dt><dd><div class="image">
<img src="parkInvFormula.gif" alt="parkInvFormula.gif"/>
</div>
 where <code>pIalpha</code> and <code>pIbeta</code> are the stator vector components, <code>Id</code> and <code>Iq</code> are rotor vector components and <code>cosVal</code> and <code>sinVal</code> are the cosine and sine values of theta (rotor flux position). </dd></dl>
<dl class="section user"><dt>Fixed-Point Behavior</dt><dd>Care must be taken when using the Q31 version of the Park transform. In particular, the overflow and saturation behavior of the accumulator used must be considered. Refer to the function specific documentation below for usage guidelines. </dd></dl>
<h2 class="groupheader">Function Documentation</h2>
<a class="anchor" id="ga896b639ecd52c33d427bc7cdc8d303b2"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">__STATIC_FORCEINLINE void arm_inv_park_f32 </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="arm__math_8h.html#a4611b605e45ab401f02cab15c5e38715">float32_t</a>&#160;</td>
          <td class="paramname"><em>Id</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="arm__math_8h.html#a4611b605e45ab401f02cab15c5e38715">float32_t</a>&#160;</td>
          <td class="paramname"><em>Iq</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="arm__math_8h.html#a4611b605e45ab401f02cab15c5e38715">float32_t</a> *&#160;</td>
          <td class="paramname"><em>pIalpha</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="arm__math_8h.html#a4611b605e45ab401f02cab15c5e38715">float32_t</a> *&#160;</td>
          <td class="paramname"><em>pIbeta</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="arm__math_8h.html#a4611b605e45ab401f02cab15c5e38715">float32_t</a>&#160;</td>
          <td class="paramname"><em>sinVal</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="arm__math_8h.html#a4611b605e45ab401f02cab15c5e38715">float32_t</a>&#160;</td>
          <td class="paramname"><em>cosVal</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">Id</td><td>input coordinate of rotor reference frame d </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">Iq</td><td>input coordinate of rotor reference frame q </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">pIalpha</td><td>points to output two-phase orthogonal vector axis alpha </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">pIbeta</td><td>points to output two-phase orthogonal vector axis beta </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">sinVal</td><td>sine value of rotation angle theta </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cosVal</td><td>cosine value of rotation angle theta </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>none </dd></dl>

</div>
</div>
<a class="anchor" id="gae7165779ef72e1f797d0c601d6d619b2"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">__STATIC_FORCEINLINE void arm_inv_park_q31 </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a>&#160;</td>
          <td class="paramname"><em>Id</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a>&#160;</td>
          <td class="paramname"><em>Iq</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a> *&#160;</td>
          <td class="paramname"><em>pIalpha</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a> *&#160;</td>
          <td class="paramname"><em>pIbeta</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a>&#160;</td>
          <td class="paramname"><em>sinVal</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a>&#160;</td>
          <td class="paramname"><em>cosVal</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">Id</td><td>input coordinate of rotor reference frame d </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">Iq</td><td>input coordinate of rotor reference frame q </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">pIalpha</td><td>points to output two-phase orthogonal vector axis alpha </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">pIbeta</td><td>points to output two-phase orthogonal vector axis beta </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">sinVal</td><td>sine value of rotation angle theta </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cosVal</td><td>cosine value of rotation angle theta </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>none</dd></dl>
<dl class="section user"><dt>Scaling and Overflow Behavior</dt><dd>The function is implemented using an internal 32-bit accumulator. The accumulator maintains 1.31 format by truncating lower 31 bits of the intermediate multiplication in 2.62 format. There is saturation on the addition, hence there is no risk of overflow. </dd></dl>

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